PQ_Hybrid_Electrical_Equipment_Team
/
Hybrid_IZU2021_MAIN_OS5
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Dependencies: PQ_ES920 PQ_LPS22HB PQ_EEPROM PQ_ADXL375 PQ_MPU9250 PQ_INA226 PQ_GPS
Revision 0:99e5a3f32c8f, committed 2020-12-15
- Comitter:
- tanahashi
- Date:
- Tue Dec 15 15:46:40 2020 +0000
- Commit message:
- first commit
Changed in this revision
diff -r 000000000000 -r 99e5a3f32c8f .gitignore --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/.gitignore Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,4 @@ +.build +.mbed +projectfiles +*.py*
diff -r 000000000000 -r 99e5a3f32c8f CONTRIBUTING.md --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CONTRIBUTING.md Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,5 @@ +# Contributing to Mbed OS + +Mbed OS is an open-source, device software platform for the Internet of Things. Contributions are an important part of the platform, and our goal is to make it as simple as possible to become a contributor. + +To encourage productive collaboration, as well as robust, consistent and maintainable code, we have a set of guidelines for [contributing to Mbed OS](https://os.mbed.com/docs/mbed-os/latest/contributing/index.html).
diff -r 000000000000 -r 99e5a3f32c8f PQ_ADXL375.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_ADXL375.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_ADXL375/#707ed8de35f5
diff -r 000000000000 -r 99e5a3f32c8f PQ_EEPROM.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_EEPROM.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_EEPROM/#2b9b9c1e98d9
diff -r 000000000000 -r 99e5a3f32c8f PQ_ES920.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_ES920.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_ES920/#6226f0721e35
diff -r 000000000000 -r 99e5a3f32c8f PQ_GPS.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_GPS.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_GPS/#04af1fbf2f11
diff -r 000000000000 -r 99e5a3f32c8f PQ_INA226.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_INA226.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_INA226/#4c315fe513d0
diff -r 000000000000 -r 99e5a3f32c8f PQ_LPS22HB.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_LPS22HB.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_LPS22HB/#9a7d5d7e63be
diff -r 000000000000 -r 99e5a3f32c8f PQ_MPU9250.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PQ_MPU9250.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/PQ_Hybrid_Electrical_Equipment_Team/code/PQ_MPU9250/#e3f212a0881f
diff -r 000000000000 -r 99e5a3f32c8f README.md --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/README.md Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,64 @@ + +# Blinky Mbed OS example + +The example project is part of the [Arm Mbed OS Official Examples](https://os.mbed.com/code/) and is the [getting started example for Mbed OS](https://os.mbed.com/docs/mbed-os/v5.14/quick-start/index.html). It contains an application that repeatedly blinks an LED on supported [Mbed boards](https://os.mbed.com/platforms/). + +You can build the project with all supported [Mbed OS build tools](https://os.mbed.com/docs/mbed-os/latest/tools/index.html). However, this example project specifically refers to the command-line interface tool [Arm Mbed CLI](https://github.com/ARMmbed/mbed-cli#installing-mbed-cli). +(Note: To see a rendered example you can import into the Arm Online Compiler, please see our [import quick start](https://os.mbed.com/docs/mbed-os/latest/quick-start/online-with-the-online-compiler.html#importing-the-code).) + +1. [Install Mbed CLI](https://os.mbed.com/docs/mbed-os/latest/quick-start/offline-with-mbed-cli.html). + +1. Clone this repository on your system, and change the current directory to where the project was cloned: + + ```bash + $ git clone git@github.com:armmbed/mbed-os-example-blinky && cd mbed-os-example-blinky + ``` + + Alternatively, you can download the example project with Arm Mbed CLI using the `import` subcommand: + + ```bash + $ mbed import mbed-os-example-blinky && cd mbed-os-example-blinky + ``` + + +## Application functionality + +The `main()` function is the single thread in the application. It toggles the state of a digital output connected to an LED on the board. + +## Building and running + +1. Connect a USB cable between the USB port on the board and the host computer. +2. <a name="build_cmd"></a> Run the following command to build the example project and program the microcontroller flash memory: + ```bash + $ mbed compile -m <TARGET> -t <TOOLCHAIN> --flash + ``` +The binary is located at `./BUILD/<TARGET>/<TOOLCHAIN>/mbed-os-example-blinky.bin`. + +Alternatively, you can manually copy the binary to the board, which you mount on the host computer over USB. + +Depending on the target, you can build the example project with the `GCC_ARM`, `ARM` or `IAR` toolchain. After installing Arm Mbed CLI, run the command below to determine which toolchain supports your target: + +```bash +$ mbed compile -S +``` + +## Expected output +The LED on your target turns on and off every 500 milliseconds. + + +## Troubleshooting +If you have problems, you can review the [documentation](https://os.mbed.com/docs/latest/tutorials/debugging.html) for suggestions on what could be wrong and how to fix it. + +## Related Links + +* [Mbed OS Stats API](https://os.mbed.com/docs/latest/apis/mbed-statistics.html). +* [Mbed OS Configuration](https://os.mbed.com/docs/latest/reference/configuration.html). +* [Mbed OS Serial Communication](https://os.mbed.com/docs/latest/tutorials/serial-communication.html). +* [Mbed OS bare metal](https://os.mbed.com/docs/mbed-os/latest/reference/mbed-os-bare-metal.html). +* [Mbed boards](https://os.mbed.com/platforms/). + +### License and contributions + +The software is provided under Apache-2.0 license. Contributions to this project are accepted under the same license. Please see contributing.md for more info. + +This project contains code from other projects. The original license text is included in those source files. They must comply with our license guide.
diff -r 000000000000 -r 99e5a3f32c8f main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 15 15:46:40 2020 +0000
@@ -0,0 +1,935 @@
+#include "mbed.h"
+#include "SDBlockDevice.h"
+
+#include "PQ_ADXL375.h"
+#include "PQ_GPS.h"
+#include "PQ_EEPROM.h"
+#include "PQ_ES920.h"
+#include "PQ_INA226.h"
+#include "PQ_LPS22HB.h"
+#include "PQ_MPU9250.h"
+
+#define BURN_TIME 3.0f
+#define T_SEP 7.0f
+#define T_RECOVERY 14.0f
+
+#define DEBUG_RATE 1
+#define DATA_RATE 20
+#define LOG_RATE 1
+#define DOWNLINK_RATE 1
+
+#define LOG_HEADER 0x11
+#define DOWNLINK_HEADER 0x12
+#define UPLINK_HEADER 0x13
+
+#define TIME_LSB 54.931640625
+#define VOLTAGE_LSB 1.25
+#define CURRENT_LSB 1.0986328125
+#define PRESS_LSB 0.0384521484375
+#define TEMP_LSB 0.002593994140625
+#define ACCEL_LSB 0.00048828125
+#define GYRO_LSB 0.06103515625
+#define MAG_LSB 0.146484375
+
+Serial pc(USBTX, USBRX, 115200);
+
+Serial gps_serial(p9, p10, 115200);
+Serial es_serial(p13, p14, 115200);
+
+I2C i2c(p28, p27);
+
+SDBlockDevice sd(p5, p6, p7, p8);
+
+ES920 es(es_serial);
+
+GPS gps(gps_serial);
+
+ADXL375 adxl(i2c, ADXL375::ALT_ADDRESS_HIGH);
+INA226 ina_in(i2c, INA226::A0_VS, INA226::A1_VS);
+INA226 ina_ex(i2c, INA226::A0_GND, INA226::A1_GND);
+LPS22HB lps(i2c, LPS22HB::SA0_HIGH);
+MPU9250 mpu(i2c, MPU9250::AD0_HIGH);
+
+EEPROM eeprom(i2c);
+
+Timer mission_timer;
+Timer flight_timer;
+Timer sd_timer;
+
+Ticker downlink_ticker;
+Ticker log_ticker;
+Ticker debug_ticker;
+
+DigitalIn debug_pin(p17);
+DigitalIn liftoff_pin(p18);
+DigitalIn ems_pin(p19);
+DigitalIn flight_pin(p20);
+
+DigitalOut sep(p21);
+DigitalOut buzzer(p23);
+DigitalOut sig(p24);
+
+BusOut led(LED1, LED2, LED3, LED4);
+
+void init();
+void read();
+void command_handler(char *command);
+void downlink();
+void record();
+void dump();
+
+FILE *fd;
+
+char file_name[64];
+
+bool launched = false;
+bool burning = false;
+bool apogee = false;
+int t = 0;
+
+int addr;
+
+char mission_timer_reset;
+int mission_time;
+int flight_time;
+char f_sd;
+char f_gps;
+char f_adxl;
+char f_ina_in;
+char f_ina_ex;
+char f_lps;
+char f_mpu;
+char f_mpu_ak;
+enum {
+ SAFETY,
+ READY,
+ FLIGHT,
+ SEP,
+ EMERGENCY,
+ RECOVERY
+} phase;
+int utc_hour;
+int utc_min;
+float utc_sec;
+float lat;
+float lon;
+int sat;
+int fix;
+float hdop;
+float alt;
+float geoid;
+float high_accel[3];
+float voltage_in;
+float current_in;
+float voltage_ex;
+float current_ex;
+float press;
+float temp;
+float accel[3];
+float gyro[3];
+float mag[3];
+
+float coef = 0.01;
+float press_prev_LPF;
+float press_LPF;
+float press_LPF_prev;
+float press_LPF_diff;
+
+short mission_time_bits;
+short flight_time_bits;
+char flags;
+short voltage_in_bits;
+short current_in_bits;
+short voltage_ex_bits;
+short current_ex_bits;
+short press_bits;
+short temp_bits;
+short accel_bits[3];
+short gyro_bits[3];
+short mag_bits[3];
+
+int main()
+{
+ mission_timer.start();
+ init();
+
+ while(1) {
+ read();
+ led = phase;
+ if(ems_pin) phase = EMERGENCY;
+ switch(phase) {
+ case SAFETY:
+ break;
+ case READY:
+ if(flight_pin || liftoff_pin) phase = FLIGHT;
+ break;
+ case FLIGHT:
+ if(!launched) {
+ flight_timer.reset();
+ flight_timer.start();
+ launched = true;
+ burning = true;
+ }
+ if(flight_timer.read() > BURN_TIME) {
+ if(burning) {
+ burning = false;
+ press_LPF_prev = press_LPF;
+ }
+ if((flight_timer.read_ms() - t) > 500) {
+ press_LPF_diff = press_LPF - press_LPF_prev;
+ press_LPF_prev = press_LPF;
+ if(press_LPF_diff > 0.0f) {
+ apogee = true;
+ } else {
+ t = flight_timer.read_ms();
+ }
+ }
+ if(!burning && (apogee || flight_timer.read() > T_SEP)) {
+ phase = SEP;
+ }
+ }
+ break;
+ case SEP:
+ buzzer = 1;
+ sep = 1;
+ if(flight_timer.read() > T_RECOVERY) phase = RECOVERY;
+ break;
+ case EMERGENCY:
+ buzzer = 0;
+ sep = 0;
+ break;
+ case RECOVERY:
+ buzzer = 1;
+ sep = 0;
+ break;
+ }
+ }
+}
+
+void init()
+{
+ char file_name_format[] = "/sd/IZU2020_AVIONICS_%d.dat";
+ int file_number = 1;
+ while(1) {
+ sprintf(file_name, file_name_format, file_number);
+ fd = fopen(file_name, "r");
+ if(fd != NULL) {
+ fclose(fd);
+ file_number++;
+ } else {
+ sprintf(file_name, "/sd/IZU2020_AVIONICS_%d.dat", file_number);
+ break;
+ }
+ }
+ fd = fopen(file_name, "w");
+ sd_timer.start();
+
+ if(fd) {
+ fprintf(fd, "mission_timer_reset,");
+ fprintf(fd, "mission_time,");
+ fprintf(fd, "flight_time,");
+ fprintf(fd, "phase,");
+ fprintf(fd, "f_sd,");
+ fprintf(fd, "f_gps,");
+ fprintf(fd, "f_adxl,");
+ fprintf(fd, "f_ina_in,");
+ fprintf(fd, "f_ina_ex,");
+ fprintf(fd, "f_lps,");
+ fprintf(fd, "f_mpu,");
+ fprintf(fd, "f_mpu_ak,");
+ fprintf(fd, "lat,");
+ fprintf(fd, "lon,");
+ fprintf(fd, "sat,");
+ fprintf(fd, "fix,");
+ fprintf(fd, "hdop,");
+ fprintf(fd, "alt,");
+ fprintf(fd, "geoid,");
+ fprintf(fd, "high_accel_x,");
+ fprintf(fd, "high_accel_y,");
+ fprintf(fd, "high_accel_z,");
+ fprintf(fd, "voltage_in,");
+ fprintf(fd, "current_in,");
+ fprintf(fd, "voltage_ex,");
+ fprintf(fd, "current_ex,");
+ fprintf(fd, "press,");
+ fprintf(fd, "temp,");
+ fprintf(fd, "accel_x,");
+ fprintf(fd, "accel_y,");
+ fprintf(fd, "accel_z,");
+ fprintf(fd, "gyro_x,");
+ fprintf(fd, "gyro_y,");
+ fprintf(fd, "gyro_z,");
+ fprintf(fd, "mag_x,");
+ fprintf(fd, "mag_y,");
+ fprintf(fd, "mag_z,");
+ fprintf(fd, "\r\n");
+ }
+
+ debug_pin.mode(PullUp);
+ liftoff_pin.mode(PullDown);
+ ems_pin.mode(PullDown);
+ flight_pin.mode(PullUp);
+
+ debug_ticker.attach(&dump, 1.0f / DEBUG_RATE);
+ log_ticker.attach(record, 1.0f / LOG_RATE);
+ downlink_ticker.attach(downlink, 1.0f / DOWNLINK_RATE);
+
+ es.attach(command_handler);
+
+ adxl.begin();
+ ina_in.begin();
+ ina_ex.begin();
+ lps.begin();
+ mpu.begin();
+}
+
+void read()
+{
+ if(mission_timer.read_ms() >= 30*60*1000) {
+ mission_timer.reset();
+ mission_timer_reset++;
+ }
+ mission_time = mission_timer.read_ms();
+ flight_time = flight_timer.read_ms();
+
+ utc_hour = gps.get_hour();
+ utc_min = gps.get_min();
+ utc_sec = gps.get_sec();
+ lat = gps.get_lat();
+ lon = gps.get_lon();
+ sat = gps.get_sat();
+ fix = gps.get_fix();
+ hdop = gps.get_hdop();
+ alt = gps.get_alt();
+ geoid = gps.get_geoid();
+
+ f_sd = (bool)fd;
+
+ f_gps = (bool)fix;
+
+ f_adxl = adxl.test();
+ if(f_adxl) {
+ adxl.read(high_accel);
+ }
+
+ f_ina_in = ina_in.test();
+ if(f_ina_in) {
+ ina_in.read_voltage(&voltage_in);
+ ina_in.read_current(¤t_in);
+ }
+
+ f_ina_ex = ina_ex.test();
+ if(f_ina_ex) {
+ ina_ex.read_voltage(&voltage_ex);
+ ina_ex.read_current(¤t_ex);
+ }
+
+ f_lps = lps.test();
+ if(f_lps) {
+ lps.read_press(&press);
+ lps.read_temp(&temp);
+
+ press_LPF = press * coef + press_prev_LPF * (1 - coef);
+ press_prev_LPF = press_LPF;
+ }
+
+ f_mpu = mpu.test();
+ if(f_mpu) {
+ mpu.read_accel(accel);
+ mpu.read_gyro(gyro);
+ }
+
+ f_mpu_ak = mpu.test_AK8963();
+ if(f_mpu_ak) {
+ mpu.read_mag(mag);
+ }
+}
+
+void command_handler(char *command)
+{
+ switch(command[0]) {
+ case 0x80:
+ break;
+ case 0x81:
+ break;
+ case 0x82:
+ break;
+ case 0x83:
+ break;
+ case 0x84:
+ break;
+ case 0x85:
+ break;
+ case 0x86:
+ break;
+ case 0x87:
+ break;
+ case 0x88:
+ break;
+ case 0x89:
+ break;
+ case 0x8A:
+ break;
+ case 0x8B:
+ break;
+ case 0x8C:
+ break;
+ case 0x8D:
+ break;
+ case 0x8E:
+ break;
+ case 0x8F:
+ break;
+ case 0x90:
+ break;
+ case 0x91:
+ break;
+ case 0x92:
+ break;
+ case 0x93:
+ break;
+ case 0x94:
+ break;
+ case 0x95:
+ break;
+ case 0x96:
+ break;
+ case 0x97:
+ break;
+ case 0x98:
+ break;
+ case 0x99:
+ break;
+ case 0x9A:
+ break;
+ case 0x9B:
+ break;
+ case 0x9C:
+ break;
+ case 0x9D:
+ break;
+ case 0x9E:
+ break;
+ case 0x9F:
+ break;
+ case 0xA0:
+ break;
+ case 0xA1:
+ break;
+ case 0xA2:
+ break;
+ case 0xA3:
+ break;
+ case 0xA4:
+ break;
+ case 0xA5:
+ break;
+ case 0xA6:
+ break;
+ case 0xA7:
+ break;
+ case 0xA8:
+ break;
+ case 0xA9:
+ break;
+ case 0xAA:
+ break;
+ case 0xAB:
+ break;
+ case 0xAC:
+ break;
+ case 0xAD:
+ break;
+ case 0xAE:
+ break;
+ case 0xAF:
+ break;
+ case 0xB0:
+ if(phase == READY) phase = SAFETY;
+ break;
+ case 0xB1:
+ if(phase == SAFETY) phase = READY;
+ break;
+ case 0xB2:
+ if(phase == READY) phase = FLIGHT;
+ break;
+ case 0xB3:
+ if(!burning && phase == FLIGHT) phase = SEP;
+ break;
+ case 0xB4:
+ if(phase >= FLIGHT && phase <= SEP) phase = EMERGENCY;
+ break;
+ case 0xB5:
+ if(phase >= SEP && phase <= EMERGENCY) phase = RECOVERY;
+ break;
+ case 0xB6:
+ break;
+ case 0xB7:
+ break;
+ case 0xB8:
+ break;
+ case 0xB9:
+ break;
+ case 0xBA:
+ break;
+ case 0xBB:
+ break;
+ case 0xBC:
+ break;
+ case 0xBD:
+ break;
+ case 0xBE:
+ break;
+ case 0xBF:
+ break;
+ case 0xC0:
+ break;
+ case 0xC1:
+ break;
+ case 0xC2:
+ break;
+ case 0xC3:
+ break;
+ case 0xC4:
+ break;
+ case 0xC5:
+ break;
+ case 0xC6:
+ break;
+ case 0xC7:
+ break;
+ case 0xC8:
+ break;
+ case 0xC9:
+ break;
+ case 0xCA:
+ break;
+ case 0xCB:
+ break;
+ case 0xCC:
+ break;
+ case 0xCD:
+ break;
+ case 0xCE:
+ break;
+ case 0xCF:
+ break;
+ case 0xD0:
+ break;
+ case 0xD1:
+ break;
+ case 0xD2:
+ break;
+ case 0xD3:
+ break;
+ case 0xD4:
+ break;
+ case 0xD5:
+ break;
+ case 0xD6:
+ break;
+ case 0xD7:
+ break;
+ case 0xD8:
+ break;
+ case 0xD9:
+ break;
+ case 0xDA:
+ break;
+ case 0xDB:
+ break;
+ case 0xDC:
+ break;
+ case 0xDD:
+ break;
+ case 0xDE:
+ break;
+ case 0xDF:
+ break;
+ case 0xE0:
+ break;
+ case 0xE1:
+ adxl.begin();
+ break;
+ case 0xE2:
+ break;
+ case 0xE3:
+ break;
+ case 0xE4:
+ break;
+ case 0xE5:
+ ina_ex.begin();
+ break;
+ case 0xE6:
+ break;
+ case 0xE7:
+ break;
+ case 0xE8:
+ break;
+ case 0xE9:
+ ina_in.begin();
+ break;
+ case 0xEA:
+ break;
+ case 0xEB:
+ break;
+ case 0xEC:
+ lps.begin();
+ break;
+ case 0xED:
+ mpu.begin();
+ break;
+ case 0xEE:
+ break;
+ case 0xEF:
+ break;
+ case 0xF0:
+ break;
+ case 0xF1:
+ break;
+ case 0xF2:
+ break;
+ case 0xF3:
+ break;
+ case 0xF4:
+ break;
+ case 0xF5:
+ break;
+ case 0xF6:
+ break;
+ case 0xF7:
+ break;
+ case 0xF8:
+ break;
+ case 0xF9:
+ break;
+ case 0xFA:
+ break;
+ case 0xFB:
+ break;
+ case 0xFC:
+ break;
+ case 0xFD:
+ break;
+ case 0xFE:
+ break;
+ case 0xFF:
+ NVIC_SystemReset();
+ break;
+ }
+}
+
+void downlink()
+{
+ mission_time_bits = (short)(mission_time / TIME_LSB);
+ flight_time_bits = (short)(flight_time / TIME_LSB);
+ flags = 0;
+ flags |= f_sd << 7;
+ flags |= f_gps << 6;
+ flags |= f_adxl << 5;
+ flags |= f_ina_in << 4;
+ flags |= f_ina_ex << 3;
+ flags |= f_lps << 2;
+ flags |= f_mpu << 1;
+ flags |= f_mpu_ak;
+ voltage_in_bits = (short)(voltage_in / VOLTAGE_LSB);
+ current_in_bits = (short)(current_in / CURRENT_LSB);
+ voltage_ex_bits = (short)(voltage_ex / VOLTAGE_LSB);
+ current_ex_bits = (short)(current_ex / CURRENT_LSB);
+ press_bits = (short)(press / PRESS_LSB);
+ temp_bits = (short)(temp / TEMP_LSB);
+ for(int i = 0; i < 3; i++) {
+ accel_bits[i] = (short)(accel[i] / ACCEL_LSB);
+ }
+ for(int i = 0; i < 3; i++) {
+ gyro_bits[i] = (short)(gyro[i] / GYRO_LSB);
+ }
+ for(int i = 0; i < 3; i++) {
+ mag_bits[i] = (short)(mag[i] / MAG_LSB);
+ }
+
+ char data[50];
+ data[0] = DOWNLINK_HEADER;
+ data[1] = mission_timer_reset;
+ data[2] = *(char*)&mission_time_bits+0;
+ data[3] = ((char*)&mission_time_bits)[1];
+ data[4] = ((char*)&flight_time_bits)[0];
+ data[5] = ((char*)&flight_time_bits)[1];
+ data[6] = flags;
+ data[7] = phase;
+ data[8] = ((char*)&lat)[0];
+ data[9] = ((char*)&lat)[1];
+ data[10] = ((char*)&lat)[2];
+ data[11] = ((char*)&lat)[3];
+ data[12] = ((char*)&lon)[0];
+ data[13] = ((char*)&lon)[1];
+ data[14] = ((char*)&lon)[2];
+ data[15] = ((char*)&lon)[3];
+ data[16] = ((char*)&alt)[0];
+ data[17] = ((char*)&alt)[1];
+ data[18] = ((char*)&alt)[2];
+ data[19] = ((char*)&alt)[3];
+ data[20] = ((char*)&voltage_in_bits)[0];
+ data[21] = ((char*)&voltage_in_bits)[1];
+ data[22] = ((char*)¤t_in_bits)[0];
+ data[23] = ((char*)¤t_in_bits)[1];
+ data[24] = ((char*)&voltage_ex_bits)[0];
+ data[25] = ((char*)&voltage_ex_bits)[1];
+ data[26] = ((char*)¤t_ex_bits)[0];
+ data[27] = ((char*)¤t_ex_bits)[1];
+ data[28] = ((char*)&press_bits)[0];
+ data[29] = ((char*)&press_bits)[1];
+ data[30] = ((char*)&temp_bits)[0];
+ data[31] = ((char*)&temp_bits)[1];
+ data[32] = ((char*)&accel_bits[0])[0];
+ data[33] = ((char*)&accel_bits[0])[1];
+ data[34] = ((char*)&accel_bits[1])[0];
+ data[35] = ((char*)&accel_bits[1])[1];
+ data[36] = ((char*)&accel_bits[2])[0];
+ data[37] = ((char*)&accel_bits[2])[1];
+ data[38] = ((char*)&gyro_bits[0])[0];
+ data[39] = ((char*)&gyro_bits[0])[1];
+ data[40] = ((char*)&gyro_bits[1])[0];
+ data[41] = ((char*)&gyro_bits[1])[1];
+ data[42] = ((char*)&gyro_bits[2])[0];
+ data[43] = ((char*)&gyro_bits[2])[1];
+ data[44] = ((char*)&mag_bits[0])[0];
+ data[45] = ((char*)&mag_bits[0])[1];
+ data[46] = ((char*)&mag_bits[1])[0];
+ data[47] = ((char*)&mag_bits[1])[1];
+ data[48] = ((char*)&mag_bits[2])[0];
+ data[49] = ((char*)&mag_bits[2])[1];
+
+ es.send(data, 50);
+}
+
+void record()
+{
+ if(phase >= FLIGHT && phase <= SEP) {
+ char data[128];
+ data[0] = LOG_HEADER;
+ data[1] = ((char*)&mission_timer_reset)[0];
+ data[2] = ((char*)&mission_time)[0];
+ data[3] = ((char*)&mission_time)[1];
+ data[4] = ((char*)&mission_time)[2];
+ data[5] = ((char*)&mission_time)[3];
+ data[6] = ((char*)&flight_time)[0];
+ data[7] = ((char*)&flight_time)[1];
+ data[8] = ((char*)&flight_time)[2];
+ data[9] = ((char*)&flight_time)[3];
+ data[10] = ((char*)&f_sd)[0];
+ data[11] = ((char*)&f_gps)[0];
+ data[12] = ((char*)&f_adxl)[0];
+ data[13] = ((char*)&f_ina_in)[0];
+ data[14] = ((char*)&f_ina_ex)[0];
+ data[15] = ((char*)&f_lps)[0];
+ data[16] = ((char*)&f_mpu)[0];
+ data[17] = ((char*)&f_mpu_ak)[0];
+ data[18] = ((char*)&phase)[0];
+ data[19] = ((char*)&lat)[0];
+ data[20] = ((char*)&lat)[1];
+ data[21] = ((char*)&lat)[2];
+ data[22] = ((char*)&lat)[3];
+ data[23] = ((char*)&lon)[0];
+ data[24] = ((char*)&lon)[1];
+ data[25] = ((char*)&lon)[2];
+ data[26] = ((char*)&lon)[3];
+ data[27] = ((char*)&sat)[0];
+ data[28] = ((char*)&sat)[1];
+ data[29] = ((char*)&sat)[2];
+ data[30] = ((char*)&sat)[3];
+ data[31] = ((char*)&fix)[0];
+ data[32] = ((char*)&fix)[1];
+ data[33] = ((char*)&fix)[2];
+ data[34] = ((char*)&fix)[3];
+ data[35] = ((char*)&hdop)[0];
+ data[36] = ((char*)&hdop)[1];
+ data[37] = ((char*)&hdop)[2];
+ data[38] = ((char*)&hdop)[3];
+ data[39] = ((char*)&alt)[0];
+ data[40] = ((char*)&alt)[1];
+ data[41] = ((char*)&alt)[2];
+ data[42] = ((char*)&alt)[3];
+ data[43] = ((char*)&geoid)[0];
+ data[44] = ((char*)&geoid)[1];
+ data[45] = ((char*)&geoid)[2];
+ data[46] = ((char*)&geoid)[3];
+ data[47] = ((char*)&high_accel[0])[0];
+ data[48] = ((char*)&high_accel[0])[1];
+ data[49] = ((char*)&high_accel[0])[2];
+ data[50] = ((char*)&high_accel[0])[3];
+ data[51] = ((char*)&high_accel[1])[0];
+ data[52] = ((char*)&high_accel[1])[1];
+ data[53] = ((char*)&high_accel[1])[2];
+ data[54] = ((char*)&high_accel[1])[3];
+ data[55] = ((char*)&high_accel[2])[0];
+ data[56] = ((char*)&high_accel[2])[1];
+ data[57] = ((char*)&high_accel[2])[2];
+ data[58] = ((char*)&high_accel[2])[3];
+ data[59] = ((char*)&voltage_in)[0];
+ data[60] = ((char*)&voltage_in)[1];
+ data[61] = ((char*)&voltage_in)[2];
+ data[62] = ((char*)&voltage_in)[3];
+ data[63] = ((char*)¤t_in)[0];
+ data[64] = ((char*)¤t_in)[1];
+ data[65] = ((char*)¤t_in)[2];
+ data[66] = ((char*)¤t_in)[3];
+ data[67] = ((char*)&voltage_ex)[0];
+ data[68] = ((char*)&voltage_ex)[1];
+ data[69] = ((char*)&voltage_ex)[2];
+ data[70] = ((char*)&voltage_ex)[3];
+ data[71] = ((char*)¤t_ex)[0];
+ data[72] = ((char*)¤t_ex)[1];
+ data[73] = ((char*)¤t_ex)[2];
+ data[74] = ((char*)¤t_ex)[3];
+ data[75] = ((char*)&press)[0];
+ data[76] = ((char*)&press)[1];
+ data[77] = ((char*)&press)[2];
+ data[78] = ((char*)&press)[3];
+ data[79] = ((char*)&temp)[0];
+ data[80] = ((char*)&temp)[1];
+ data[81] = ((char*)&temp)[2];
+ data[82] = ((char*)&temp)[3];
+ data[83] = ((char*)&accel[0])[0];
+ data[84] = ((char*)&accel[0])[1];
+ data[85] = ((char*)&accel[0])[2];
+ data[86] = ((char*)&accel[0])[3];
+ data[87] = ((char*)&accel[1])[0];
+ data[88] = ((char*)&accel[1])[1];
+ data[89] = ((char*)&accel[1])[2];
+ data[90] = ((char*)&accel[1])[3];
+ data[91] = ((char*)&accel[2])[0];
+ data[92] = ((char*)&accel[2])[1];
+ data[93] = ((char*)&accel[2])[2];
+ data[94] = ((char*)&accel[2])[3];
+ data[95] = ((char*)&gyro[0])[0];
+ data[96] = ((char*)&gyro[0])[1];
+ data[97] = ((char*)&gyro[0])[2];
+ data[98] = ((char*)&gyro[0])[3];
+ data[99] = ((char*)&gyro[1])[0];
+ data[100] = ((char*)&gyro[1])[1];
+ data[101] = ((char*)&gyro[1])[2];
+ data[102] = ((char*)&gyro[1])[3];
+ data[103] = ((char*)&gyro[2])[0];
+ data[104] = ((char*)&gyro[2])[1];
+ data[105] = ((char*)&gyro[2])[2];
+ data[106] = ((char*)&gyro[2])[3];
+ data[107] = ((char*)&mag[0])[0];
+ data[108] = ((char*)&mag[0])[1];
+ data[109] = ((char*)&mag[0])[2];
+ data[110] = ((char*)&mag[0])[3];
+ data[111] = ((char*)&mag[1])[0];
+ data[112] = ((char*)&mag[1])[1];
+ data[113] = ((char*)&mag[1])[2];
+ data[114] = ((char*)&mag[1])[3];
+ data[115] = ((char*)&mag[2])[0];
+ data[116] = ((char*)&mag[2])[1];
+ data[117] = ((char*)&mag[2])[2];
+ data[118] = ((char*)&mag[2])[3];
+ data[119] = 0x00;
+ data[120] = 0x00;
+ data[121] = 0x00;
+ data[122] = 0x00;
+ data[123] = 0x00;
+ data[124] = 0x00;
+ data[125] = 0x00;
+ data[126] = 0x00;
+ data[127] = 0x00;
+
+ eeprom.write(addr, data, 128);
+ addr += 0x80;
+ }
+
+ if(fd) {
+ fprintf(fd, "%d,", mission_timer_reset);
+ fprintf(fd, "%d,", mission_time);
+ fprintf(fd, "%d,", flight_time);
+ fprintf(fd, "%d,", phase);
+ fprintf(fd, "%d,", f_sd);
+ fprintf(fd, "%d,", f_gps);
+ fprintf(fd, "%d,", f_adxl);
+ fprintf(fd, "%d,", f_ina_in);
+ fprintf(fd, "%d,", f_ina_ex);
+ fprintf(fd, "%d,", f_lps);
+ fprintf(fd, "%d,", f_mpu);
+ fprintf(fd, "%d,", f_mpu_ak);
+ fprintf(fd, "%f,", lat);
+ fprintf(fd, "%f,", lon);
+ fprintf(fd, "%d,", sat);
+ fprintf(fd, "%d,", fix);
+ fprintf(fd, "%f,", hdop);
+ fprintf(fd, "%f,", alt);
+ fprintf(fd, "%f,", geoid);
+ fprintf(fd, "%f,", high_accel[0]);
+ fprintf(fd, "%f,", high_accel[1]);
+ fprintf(fd, "%f,", high_accel[2]);
+ fprintf(fd, "%f,", voltage_in);
+ fprintf(fd, "%f,", current_in);
+ fprintf(fd, "%f,", voltage_ex);
+ fprintf(fd, "%f,", current_ex);
+ fprintf(fd, "%f,", press);
+ fprintf(fd, "%f,", temp);
+ fprintf(fd, "%f,", accel[0]);
+ fprintf(fd, "%f,", accel[1]);
+ fprintf(fd, "%f,", accel[2]);
+ fprintf(fd, "%f,", gyro[0]);
+ fprintf(fd, "%f,", gyro[1]);
+ fprintf(fd, "%f,", gyro[2]);
+ fprintf(fd, "%f,", mag[0]);
+ fprintf(fd, "%f,", mag[1]);
+ fprintf(fd, "%f,", mag[2]);
+ fprintf(fd, "\r\n");
+ }
+
+ if(sd_timer.read_ms() >= 60*1000) {
+ sd_timer.reset();
+ sd_timer.start();
+ if(fd) {
+ fclose(fd);
+ fd = fopen(file_name, "a");
+ }
+ }
+}
+
+void dump()
+{
+ if(!debug_pin) {
+ pc.printf("mission_timer_reset: %d\r\n", mission_timer_reset);
+ pc.printf("mission_time: %d\r\n", mission_time);
+ pc.printf("flight_time: %d\r\n", flight_time);
+ pc.printf("phase: %d\r\n", phase);
+ pc.printf("f_sd: %d\r\n", f_sd);
+ pc.printf("f_gps: %d\r\n", f_gps);
+ pc.printf("f_adxl: %d\r\n", f_adxl);
+ pc.printf("f_ina_in: %d\r\n", f_ina_in);
+ pc.printf("f_ina_ex: %d\r\n", f_ina_ex);
+ pc.printf("f_lps: %d\r\n", f_lps);
+ pc.printf("f_mpu: %d\r\n", f_mpu);
+ pc.printf("f_mpu_ak: %d\r\n", f_mpu_ak);
+ pc.printf("lat: %f\r\n", lat);
+ pc.printf("lon: %f\r\n", lon);
+ pc.printf("sat: %d\r\n", sat);
+ pc.printf("fix: %d\r\n", fix);
+ pc.printf("hdop: %f\r\n", hdop);
+ pc.printf("alt: %f\r\n", alt);
+ pc.printf("geoid: %f\r\n", geoid);
+ pc.printf("high_accel_x: %f\r\n", high_accel[0]);
+ pc.printf("high_accel_y: %f\r\n", high_accel[1]);
+ pc.printf("high_accel_z: %f\r\n", high_accel[2]);
+ pc.printf("voltage_in: %f\r\n", voltage_in);
+ pc.printf("current_in: %f\r\n", current_in);
+ pc.printf("voltage_ex: %f\r\n", voltage_ex);
+ pc.printf("current_ex: %f\r\n", current_ex);
+ pc.printf("press: %f\r\n", press);
+ pc.printf("temp: %f\r\n", temp);
+ pc.printf("accel_x: %f\r\n", accel[0]);
+ pc.printf("accel_y: %f\r\n", accel[1]);
+ pc.printf("accel_z: %f\r\n", accel[2]);
+ pc.printf("gyro_x: %f\r\n", gyro[0]);
+ pc.printf("gyro_y: %f\r\n", gyro[1]);
+ pc.printf("gyro_z: %f\r\n", gyro[2]);
+ pc.printf("mag_x: %f\r\n", mag[0]);
+ pc.printf("mag_y: %f\r\n", mag[1]);
+ pc.printf("mag_z: %f\r\n", mag[2]);
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 99e5a3f32c8f mbed-os.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-os.lib Tue Dec 15 15:46:40 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/ARMmbed/mbed-os/#cf4f12a123c05fcae83fc56d76442015cb8a39e9
diff -r 000000000000 -r 99e5a3f32c8f mbed_app.json
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed_app.json Tue Dec 15 15:46:40 2020 +0000
@@ -0,0 +1,7 @@
+{
+ "target_overrides": {
+ "*": {
+ "target.components_add": ["SD"]
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r 99e5a3f32c8f resources/official_armmbed_example_badge.png Binary file resources/official_armmbed_example_badge.png has changed